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<a href="#pub-types">Public Types</a> &#124;
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<p>The <a class="el" href="classblmc__robots_1_1TestBench8Motors.html" title="The TestBench8Motors class implements the control of the test bench containing 8 motors and 8 sliders...">TestBench8Motors</a> class implements the control of the test bench containing 8 motors and 8 sliders using the blmc drivers.  
 <a href="classblmc__robots_1_1TestBench8Motors.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="test__bench__8__motors_8hpp_source.html">test_bench_8_motors.hpp</a>&gt;</code></p>
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Public Types</h2></td></tr>
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typedef blmc_drivers::MotorInterface::MeasurementIndex&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1TestBench8Motors.html#a049fd1c22b23b81372f2a57a03bf1303">mi</a></td></tr>
<tr class="memdesc:a049fd1c22b23b81372f2a57a03bf1303"><td class="mdescLeft">&#160;</td><td class="mdescRight">mi this typdef is used to get the measurements form the blmc api <br /></td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a99006d989ac690956a2e1ab9b710de0f"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a99006d989ac690956a2e1ab9b710de0f"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1TestBench8Motors.html#a99006d989ac690956a2e1ab9b710de0f">TestBench8Motors</a> ()</td></tr>
<tr class="memdesc:a99006d989ac690956a2e1ab9b710de0f"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="classblmc__robots_1_1TestBench8Motors.html" title="The TestBench8Motors class implements the control of the test bench containing 8 motors and 8 sliders...">TestBench8Motors</a> is the constructor of the class. <br /></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1TestBench8Motors.html#aa8981496d1193752de3017a3eebb87dc">initialize</a> ()</td></tr>
<tr class="memdesc:aa8981496d1193752de3017a3eebb87dc"><td class="mdescLeft">&#160;</td><td class="mdescRight">initialize the robot by setting aligning the motors and calibrate the sensors to 0 <br /></td></tr>
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<tr class="memitem:a5194da9e85b4391e9ff6c5bf5a07faf2"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5194da9e85b4391e9ff6c5bf5a07faf2"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1TestBench8Motors.html#a5194da9e85b4391e9ff6c5bf5a07faf2">send_target_current</a> (const <a class="el" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a> target_currents)</td></tr>
<tr class="memdesc:a5194da9e85b4391e9ff6c5bf5a07faf2"><td class="mdescLeft">&#160;</td><td class="mdescRight">send_target_torques sends the target currents to the motors <br /></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1TestBench8Motors.html#a2792f7d4866c396ddfb88730a1644988">acquire_sensors</a> ()</td></tr>
<tr class="memdesc:a2792f7d4866c396ddfb88730a1644988"><td class="mdescLeft">&#160;</td><td class="mdescRight">acquire_sensors acquire all available sensors, WARNING !!!! this method has to be called prior to any getter to have up to date data. <br /></td></tr>
<tr class="separator:a2792f7d4866c396ddfb88730a1644988"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9372bd2722944fa510aa56323f8955b8"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1TestBench8Motors.html#a9372bd2722944fa510aa56323f8955b8">get_motor_positions</a> ()</td></tr>
<tr class="memdesc:a9372bd2722944fa510aa56323f8955b8"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_motor_positions  <a href="#a9372bd2722944fa510aa56323f8955b8">More...</a><br /></td></tr>
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<tr class="memitem:aaf4aa80251af98000ffad95eddf0b449"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1TestBench8Motors.html#aaf4aa80251af98000ffad95eddf0b449">get_motor_velocities</a> ()</td></tr>
<tr class="memdesc:aaf4aa80251af98000ffad95eddf0b449"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_motor_velocities  <a href="#aaf4aa80251af98000ffad95eddf0b449">More...</a><br /></td></tr>
<tr class="separator:aaf4aa80251af98000ffad95eddf0b449"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9bac22cb6522afd6412e8fbb56f11fbf"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1TestBench8Motors.html#a9bac22cb6522afd6412e8fbb56f11fbf">get_motor_currents</a> ()</td></tr>
<tr class="memdesc:a9bac22cb6522afd6412e8fbb56f11fbf"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_motor_currents  <a href="#a9bac22cb6522afd6412e8fbb56f11fbf">More...</a><br /></td></tr>
<tr class="separator:a9bac22cb6522afd6412e8fbb56f11fbf"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab1d81b573c721e5c8ad400ed4fb4d6ef"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1TestBench8Motors.html#ab1d81b573c721e5c8ad400ed4fb4d6ef">get_motor_encoder_indexes</a> ()</td></tr>
<tr class="memdesc:ab1d81b573c721e5c8ad400ed4fb4d6ef"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_motor_encoder_indexes  <a href="#ab1d81b573c721e5c8ad400ed4fb4d6ef">More...</a><br /></td></tr>
<tr class="separator:ab1d81b573c721e5c8ad400ed4fb4d6ef"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a11bdbb6f0e4dd0824075ba309f69ad3a"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1TestBench8Motors.html#a11bdbb6f0e4dd0824075ba309f69ad3a">get_slider_positions</a> ()</td></tr>
<tr class="memdesc:a11bdbb6f0e4dd0824075ba309f69ad3a"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_slider_positions  <a href="#a11bdbb6f0e4dd0824075ba309f69ad3a">More...</a><br /></td></tr>
<tr class="separator:a11bdbb6f0e4dd0824075ba309f69ad3a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abd3b8a40787ad9e6c019b849da9ca07c"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1TestBench8Motors.html#abd3b8a40787ad9e6c019b849da9ca07c">get_max_current</a> ()</td></tr>
<tr class="memdesc:abd3b8a40787ad9e6c019b849da9ca07c"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_max_current  <a href="#abd3b8a40787ad9e6c019b849da9ca07c">More...</a><br /></td></tr>
<tr class="separator:abd3b8a40787ad9e6c019b849da9ca07c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a17ac05712b3cb4e63dfd8cdb80b16eea"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1TestBench8Motors.html#a17ac05712b3cb4e63dfd8cdb80b16eea">get_max_range</a> ()</td></tr>
<tr class="memdesc:a17ac05712b3cb4e63dfd8cdb80b16eea"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_max_current  <a href="#a17ac05712b3cb4e63dfd8cdb80b16eea">More...</a><br /></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>The <a class="el" href="classblmc__robots_1_1TestBench8Motors.html" title="The TestBench8Motors class implements the control of the test bench containing 8 motors and 8 sliders...">TestBench8Motors</a> class implements the control of the test bench containing 8 motors and 8 sliders using the blmc drivers. </p>
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          <td class="memname">double blmc_robots::TestBench8Motors::get_max_current </td>
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<p>get_max_current </p>
<dl class="section return"><dt>Returns</dt><dd>the maximum current to apply to the motors </dd></dl>

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<p>get_max_current </p>
<dl class="section return"><dt>Returns</dt><dd>the maximum current to apply to the motors </dd></dl>

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          <td class="memname">const <a class="el" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a> blmc_robots::TestBench8Motors::get_motor_currents </td>
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<p>get_motor_currents </p>
<dl class="section return"><dt>Returns</dt><dd>the current motors currents in (Ampere: A). WARNING !!!! The method &lt;acquire_sensors&gt;"()" has to be called prior to any getter to have up to date data. </dd></dl>

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          <td class="memname">const <a class="el" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a> blmc_robots::TestBench8Motors::get_motor_encoder_indexes </td>
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<p>get_motor_encoder_indexes </p>
<dl class="section return"><dt>Returns</dt><dd>TODO: ask Manuel what is this exactly. WARNING !!!! The method &lt;acquire_sensors&gt;"()" has to be called prior to any getter to have up to date data. </dd></dl>

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<p>get_motor_positions </p>
<dl class="section return"><dt>Returns</dt><dd>the current motors positions (rad). WARNING !!!! The method &lt;acquire_sensors&gt;"()" has to be called prior to any getter to have up to date data. </dd></dl>

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<p>get_motor_velocities </p>
<dl class="section return"><dt>Returns</dt><dd>the current motors velocities (rad/s). WARNING !!!! The method &lt;acquire_sensors&gt;"()" has to be called prior to any getter to have up to date data. </dd></dl>

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<p>get_slider_positions </p>
<dl class="section return"><dt>Returns</dt><dd>the current sliders positions. WARNING !!!! The method &lt;acquire_sensors&gt;"()" has to be called prior to any getter to have up to date data. </dd></dl>

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<hr/>The documentation for this class was generated from the following files:<ul>
<li>/workspace/software/workspace/src/catkin/robots/blmc_robots/include/blmc_robots/<a class="el" href="test__bench__8__motors_8hpp_source.html">test_bench_8_motors.hpp</a></li>
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